Control LBR Manipulator Motion Through Joint Torque Commands

Harshita Bhurat, MathWorks

Robotics System Toolbox™ algorithms support workflows related to articulated robots. Given a set of desired joint configuration waypoints and a torque-controlled manipulator, you can implement the computed-torque controller using the robotics.RigidBodyTree.inverseDynamics function. The controller enables the robot to follow the given configuration waypoints along a smooth trajectory.